EP3476188B1 - Procédé et système permettant de déterminer et de stocker des conditions de surface pour un champ - Google Patents

Procédé et système permettant de déterminer et de stocker des conditions de surface pour un champ Download PDF

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Publication number
EP3476188B1
EP3476188B1 EP17199239.9A EP17199239A EP3476188B1 EP 3476188 B1 EP3476188 B1 EP 3476188B1 EP 17199239 A EP17199239 A EP 17199239A EP 3476188 B1 EP3476188 B1 EP 3476188B1
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EP
European Patent Office
Prior art keywords
earth
working roller
sensor signals
working
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP17199239.9A
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German (de)
English (en)
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EP3476188A1 (fr
Inventor
Arnaud Sechet
Gaëtan PASQUIER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kverneland Group Les Landes Genusson SAS
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Kverneland Group Les Landes Genusson SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by Kverneland Group Les Landes Genusson SAS filed Critical Kverneland Group Les Landes Genusson SAS
Priority to DK17199239.9T priority Critical patent/DK3476188T3/da
Priority to EP17199239.9A priority patent/EP3476188B1/fr
Priority to PL17199239.9T priority patent/PL3476188T3/pl
Priority to US16/760,150 priority patent/US11818972B2/en
Priority to PCT/EP2018/079716 priority patent/WO2019086459A2/fr
Publication of EP3476188A1 publication Critical patent/EP3476188A1/fr
Application granted granted Critical
Publication of EP3476188B1 publication Critical patent/EP3476188B1/fr
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B29/00—Rollers
    • A01B29/06—Rollers with special additional arrangements
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/20—Measuring arrangements characterised by the use of mechanical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/28—Measuring arrangements characterised by the use of mechanical techniques for measuring roughness or irregularity of surfaces

Definitions

  • the invention relates to a method and a system for determining and storing surface conditions for a field.
  • Earth-working roller systems which may also be referred to soil-working roller systems may be provided with different kinds of agricultural machines.
  • There are earth-working roller systems comprising an earth-working roller assembly having a first earth-working roller member and a second earth-working roller member, wherein the earth-working roller members are supported by a drawbar fixedly connected to support members receiving the first and second earth-working roller members.
  • Document EP 2 759 187 B1 discloses an earth-working roller system in which the earth-working roller assembly is enabled for pivotal movement relative to a frame member.
  • An earth-working roller system is also disclosed in EP 2 832 198 A1 .
  • the earth-working roller system is used for applying rollers to soil or earth.
  • a cultivating and seeding machine is provided with a seeding unit and a tillage device and/or a land roller.
  • the seeding unit is provided with a seeding actuator
  • the tillage device is provided with a tillage actuator
  • the land roller is provided with a land roller actuator.
  • the seeding actuator regulates the sowing depth of the seeding unit
  • the tillage and land roller actuators regulates the downward pressure of these two implements, respectively.
  • a controller having a memory loaded with information for adjusting the working implements, controls the various actuators in response to these data records.
  • the document DE 10 2015 111518 A1 describes a soil working device with at least one tilling tool, a measuring device and a storage unit coupled with the measuring unit for storing and processing data originating from the measuring device.
  • the measuring device comprises at least one sensor arranged on several or each tilling tool, the measuring signals of which are a measure of interference acting on the tilling tool, and means for data exchange with a global positioning system (GPS).
  • GPS global positioning system
  • a method for generating a soil map with a soil working device consists in that at least one sensor present on several or each tilling tool of a soil working device, the respective measuring signals of which are a measure of interference acting on the tilling tool, generates measuring signals which are recorded in a periodically repeated manner and simultaneously together with a position signal coming from the GPS and which measuring signals are stored in the storage unit associated with the position signal.
  • a method for determining and storing surface conditions for a field comprising: moving an agricultural machine having an earth-working roller system over a field, the earth-working roller system comprising an earth-working roller assembly; detecting sensor signals for an oscillating movement of the earth-working roller assembly; detecting position data for the movement of the earth-working roller system over the field; generating a digital surface map for the field indicative of position-dependent roughness and / or leveling information, the generating comprising assigning the sensor signals to the position data; and storing the digital surface map in a data storage device.
  • a system for determining and storing surface conditions for a field comprising: an agricultural machine having an earth-working roller system over a field, the earth-working roller system comprising an earth-working roller assembly; a measurement system, comprising a sensor system; and a data storage device.
  • the measurement system is adapted to detect sensor signals for an oscillating movement of the earth-working roller assembly while the agricultural machine is moving over a field; detect position data for the movement of the earth-working roller system over the field; generate a digital surface map for the field indicative of position-dependent roughness and / or leveling information, the generating comprising assigning the sensor signals to the position data; and store the digital surface map in the data storage device.
  • the digital (surface) map for the field indicative of position-dependent (soil) roughness and / or leveling information may be used for controlling operation of another agricultural machine in dependence on the surface (soil) roughness / leveling, such operation may be referred to as position-dependent operation control based on the digital map.
  • the detecting of the sensor signals may comprise detecting movement of at least one of a plurality of earth-working rollers of the earth-working roller assembly relative a frame member to which the earth-working roller assembly is connected and / or relative another earth-working roller.
  • movement relative to a support member or element of the earth-working roller assembly may be detected by one or more sensor devices.
  • the moving may comprise moving an earth-working roller system.
  • the earth-working roller system may comprise an earth-working roller assembly, comprising: a first earth-working roller member and a second earth-working roller member; and a first support member and a second support member, the first and second support members supporting the first and second earth-working rollers on opposite sides in a relative position and allowing free rotation of the first and second earth-working rollers.
  • earth-working roller system may comprise a frame member; and a joint assembly connecting the earth-working roller assembly and the frame member, the joint assembly being adapted to allow rotational movement of the earth-working roller assembly relative to the frame member.
  • the detecting of sensor signals may comprise detecting sensor signals for the oscillating movement by an angle sensor.
  • the method may further comprise detecting sensor signals for the oscillating movement by an angle sensor placed aligned with a pivot point in which the earth-working roller assembly couples to the frame member.
  • a linear sensor device may be applied for detecting sensor signals indicative of a linear movement.
  • the detecting of sensor signals may comprise detecting sensor signals for the oscillating movement by a position sensor.
  • the position sensor may be adapted to detect position data for one or more members or parts of the earth-working roller system, for example, movement of the part or element relative to starting position of the part or element or movement relative to some other part or element.
  • Such position signals are to be distinguished from the position or location data gathered for the movement of the of the earth-working roller system over the field.
  • the method may further comprise detecting sensor signals for the oscillating movement by a position sensor placed between the earth-working roller assembly and the frame member.
  • the method may further comprise detecting sensor signals for the oscillating movement by a position sensor integrated in an actuator member.
  • the detecting of sensor signals may comprise detecting sensor signals for the oscillating movement by a force sensor.
  • the method may comprise detecting sensor signals for the oscillating movement by a force sensor located in a fixation of an actuator member.
  • the detecting of sensor signals may comprise detecting sensor signals for the oscillating movement by a pressure sensor.
  • One or more of the sensor devices may be provided in different locations on the earth-working roller system for detecting one or more signals which are assigned to the location signals. Use of a plurality of sensor devices providing different sensor signals indicative of different movement information may improve quality of the digital map.
  • the earth-working roller system may also be referred to as soil-working roller system.
  • an earth-working roller system for an agricultural machine, the earth-working roller system comprising an earth-working roller assembly.
  • the earth-working roller assembly comprises a first earth-working roller member and a second earth-working roller member, and a first support member and a second support member.
  • the first and second support members are supporting the first and second earth-working rollers on opposite sides in a relative position and are allowing free rotation of the first and second earth-working rollers.
  • the earth-working roller system is further comprising a frame member, and a joint assembly connecting the earth-working roller assembly and the frame member.
  • the joint assembly is adapted to allow rotational or pivotal movement of the earth-working roller assembly relative to the frame member.
  • there is a first adjustment mechanism adapted to adjust a movement limitation for the rotational or pivotal movement of the earth-working roller assembly relative to the frame member.
  • the agricultural machine may be an implement.
  • the agricultural machine may comprise at least one of: cultivator, seeder, tine harrow, disc harrow, seedbed harrow, subsoiler, plough, and chopper.
  • the first adjustment mechanism allows for improved control with regard to the operation of the earth-working roller system.
  • the first adjustment mechanism may be adapted to provide a first movement limitation and a second movement limitation different from the first movement limitation, wherein, for the rotational movement of the earth-working roller assembly relative to the frame member, the first movement limitation allows for rotational movement along a first circular arc section and the second movement limitation allows for the rotational movement along a second circular arc section different from the first circular arc section.
  • the rotational or pivotal movement of the earth-working roller assembly relative to the frame member may be more limited with the second movement limitation applied. In this case the second circular arc is shorter or smaller than the first circular arc section.
  • the joint assembly may comprise a first joint member having a guiding opening and a second joint member having a guiding member, the guiding member being movable along the guiding opening during the rotational movement of the earth-working roller assembly relative to the frame member.
  • the joint assembly is connecting or coupling the earth-working roller assembly to the frame member, thereby, allowing rotational or pivotal movement of the earth working roller assembly relative to the frame member.
  • the guiding member received moveable along the guiding opening provides guiding while the earth-working roller assembly is moved relatively to the frame member in operation of the earth-working roller system. End sections of the guiding opening provide for movement limitations with regard to the guiding member received in the guiding opening, thereby, limiting the rotational movement of the earth-working roller assembly relative to the frame member.
  • One or more stop members may be releasably provided in the guiding opening.
  • the one or more stop members may be defining a shortened trajectory compared to a (non-shortened) trajectory provided for the guiding member in the guiding opening without having the one or more stop members releasably provided in the guiding opening.
  • the one or more stop members may comprise one or more stop pins which can be releasably mounted, for example, by screwing or sliding in. More than one stop members may be provided in the guiding opening.
  • the stop members may provide for limiting points along the trajectory provided for the guiding member in the guiding opening.
  • the one or more stop members releasably provided in the guiding opening may be adapted to limit, with regard to a starting position of the earth-working roller assembly relative to the frame member, rotational movement of the earth-working roller assembly relative to the frame member to at least one side.
  • the one or more stop members may limit the trajectory for the relative movement between the earth-working roller assembly and the frame member compared to the case having no stop member provided in the guiding opening, thereby, shortening the trajectory of movement.
  • the starting position not being an end position within the guiding opening may be a center position or a position adjacent to the center of the trajectory provided by the guiding opening.
  • the one or more stop members may limit rotation into one direction of rotation or both opposite directions of rotation.
  • the one or more stop members releasably be provided in the guiding opening may be adapted to prevent, with regard to the starting position of the earth-working roller assembly relative to the frame member, rotational movement of the earth-working roller assembly relative to the frame member to at least one side. In such embodiment there is no rotational movement (rotation) possible for the relative movement between the roller assembly and the frame member to this side of the starting position.
  • the relative rotational movement may be prevented or blocked for both directions of rotation with regard to the starting position.
  • the one or more stop members releasably be provided in the guiding opening may be adapted to allow, with regard to the starting position of the earth-working roller assembly relative to the frame member, rotational movement of the earth-working roller assembly relative to the frame member to an opposite side.
  • An actuator member may functionally be connected to the joint assembly, the actuator member allowing the rotational movement of the earth-working roller assembly relative to the frame member.
  • the actuator member does allow rotational or pivotal movement of the earth-working roller assembly relative to the frame member.
  • the actuator member may be operated for not allowing the rotational movement of the earth-working roller assembly relative to the frame member in an alternative operation mode.
  • the actuator member may be applied in combination with the embodiment in which the joint assembly is provided with the first and second joint members.
  • the actuator member may be provided for exclusively providing the first adjustment mechanism, specifically, without having applied the first and second joint members having the guiding opening and the guiding member, respectively.
  • the actuator member may be adapted to attenuate the rotational movement of the earth-working roller assembly relative to the frame member.
  • the actuator member may be adapted to limit the rotational movement of the earth-working roller assembly relative to the frame member.
  • the actuator member may be provided in different operation modes, the different operation modes providing different limitations for or limits to the rotational movement of the earth-working roller assembly relative to the frame member.
  • the actuator member may comprise at least one of the following: a hydraulic actuator adapted to provide a hydraulic force, a mechanical actuator adapted to provide a mechanical force such as a mechanical force such as a spindle member, and / or a spring member, a magnetic actuator adapted to provide a magnetic force, a pneumatic actuator adapted to provide a pneumatic force, and an electric actuator adapted to provide an electric force.
  • a second adjustment mechanism may be provided.
  • the second adjustment mechanism may be adapted to adjust the relative position of the first and second earth-working roller members supported on the first and second support members.
  • the second adjustment mechanism allows for adjusting the relative position of the first and second earth-working rollers.
  • the second adjustment mechanism may comprise at least one of the following: a plurality of holes for providing support for the first and second earth-working roller members, guiding openings or holes, and a support member rotatably received on a base support member.
  • the support members may provide for adjustment of the relative position of the first and second earth-working roller members by rotational or pivotal movement of the support members relative to each other.
  • the second adjustment mechanism may be adapted to adjust a distance between a first axis of rotation for the first earth-working roller member and a second axis of rotation for the second earth-working roller member.
  • the adjustment of the distance between the first axis of rotation for the first earth-working roller member and the second axis of rotation for the second earth-working roller member may be applied for providing or preventing overlapping between the first and second earth-working roller member. Also, a degree of overlapping may be adjusted.
  • first and second earth-working rollers of the earth-working roller system On opposite sides of the first and second earth-working rollers of the earth-working roller system, for both the first and second support members a first support element holding the first earth-working roller may be provided on the frame member. A second support element holding the second earth-working roller may provided on the support member. The first and second support elements are pivotably connected through the joint assembly. For the first and second support elements relative rotational movement may be allowed by the joint assembly. An actuator may be provided for adjusting the joint assembly, thereby, adjusting rotational positioning of the first and second support elements on the opposite sides. In turn, such adjustment will adjust the relative positioning / relative movement of the first and second earth-working rollers.
  • the first and second support elements may be pivotable around an axis extending through a pivot point.
  • An actuator may be assigned to the pivot point and adapted to adjust a relative position of the first and second support members.
  • the actuator may be at least one of a hydraulic actuator, an electric actuator, and a mechanical actuator.
  • the first and second earth-working roller members may be selected from the following group of earth-working roller members: rolling baskets, rotors, conditioners, and packers.
  • an earth-working roller system for an agricultural machine comprising an earth-working roller assembly.
  • the earth-working roller assembly may comprise a first earth-working roller member and a second earth-working roller member; and a first support member and a second support member, the first and second support members supporting the first and second earth-working rollers in a relative position and allowing free rotation of the first and second earth-working rollers.
  • the earth-working roller system may further comprise a frame member; and a joint assembly connecting the earth-working roller assembly and the frame member, the joint assembly being adapted to allow rotational movement of the earth-working roller assembly relative to the frame member.
  • a second adjustment mechanism may be provided, the second adjustment mechanism being adapted to adjust the relative position of the first and second earth-working roller members supported on the first and second support members.
  • Such roller system may also be applied alone or in combination with another earth-working roller system for detecting the plurality of signals.
  • the earth-working roller assembly may comprise a draw bar or other frame member which may be extending transversely to a moving direction.
  • the first and second support members may be fixedly connected to a first portion on one side of the draw bar and a second portion on an opposite side of the draw bar, respectively.
  • an earth-working roller system for an agricultural machine comprising an earth-working roller assembly.
  • the earth-working roller assembly comprises a first earth-working roller member and a second earth-working roller member.
  • a first support element is provided supporting the first earth-working roller on opposite sides and allowing free rotation of the first earth-working roller.
  • a second support element is provided supporting the second earth-working roller on opposite sides and allowing free rotation of the second earth-working roller.
  • the first and second support elements are connected by a joint assembly on the opposite sides of the earth-working rollers.
  • the joint assembly is adapted to allow limited rotational or pivotal movement and / or block such rotational or pivotal movement of the first earth-working roller relative to the second earth-working roller.
  • the first and second support members each comprise first and second support elements pivotably connected.
  • the first support elements holding the first earth-working roller are provided by frame members to which, via the joint assembly, the second support elements holding the second earth-working roller are pivotably connected.
  • the first and second support members holding the first and second earth-working rollers comprise parts or elements, namely the first and second support elements, pivotably connected.
  • the joint assembly is adjustable for adjusting the rotational or pivotal movement of the first earth-working roller relative to the second earth-working roller in operation.
  • Such roller system alone or in combination with another earth-working roller system, may also be applied for detecting the plurality of signals.
  • Fig. 1 and Fig. 2 show a schematic representations of an earth-working roller system comprising an earth-working roller assembly 10 having a first earth-working roller member 11 and a second earth-working roller member 12 which are supported by a first support member 13 and a second support member 14 fixedly connected to a draw bar 15.
  • the earth-working roller system may also be referred to as a soil-working roller system.
  • the earth-working roller assembly 10 is mounted or coupled to a frame member 16 by means of a joint assembly 17.
  • the frame member 16 comprises another draw bar 16a, and a first further support member 16b and a second further support member 16c.
  • the joint assembly 17 connecting to end sections 15a, 15b of the draw bar 15 allows for rotational or pivotal movement of the earth-working roller assembly 10 relative to the frame member 16 around a pivot point P.
  • Fig. 3 shows another embodiment of an earth-working roller system for an agricultural machine such as an implement.
  • first and second support members 13, 14 a first axis of rotation 18 of the first earth-working roller member 11 and a second axis of rotation 19 of the second earth-working roller member 12 are held in a relative position.
  • Such relative position can be adjusted as will be explained below.
  • the relative position may not be adjustable (fixed) in other embodiments.
  • Fig. 4 shows schematic representations of a section of the earth-working roller system with the joint assembly 17.
  • a first joint member 17a having a guide opening 20 and a second joint member 17b provided with a guide or guiding member 21 which is received in the guide opening 20.
  • the guide member 21 will be moved within the guide opening 20.
  • End sections 22, 23 of the guide opening 20 provide limitation for the rotational or pivotal movement of the earth-working roller assembly 10 relative to the frame member 16. This can be seen from the lower representations in Fig. 4 showing different positions during the rotational movement of the earth-working roller assembly 10 relative to the frame member 16 depending a slope of the ground or soil 24 on which the first and second earth-working roller members 11, 12 are moving in operation.
  • the rotational movement of the earth-working roller assembly 10 relative to the frame member 16 can be limited by releasably positioning stop members 30, 31 such as stop pins in the guide opening 20.
  • the earth-working roller assembly 10 is prevented or blocked from rotational movement relative to the frame member 16.
  • an actuator member 40 is provided as part of the join assembly 17, the actuator member 40 functionally coupling to the frame member 16 and the earth-working roller assembly 10.
  • the joint assembly 17 is provided with an alternative design compared to the embodiments in Fig. 1 to 5 .
  • the joint assembly 17 shown for the embodiments in Fig. 1 to 5 may be combined with the actuator member 40 in an alternative embodiment.
  • the guide opening 20 and the guide member 21 optionally to be combined with the one or more stop members 30, 31 may be part of a first adjustment mechanism adapted for adjusting limitation of the rotational movement of the earth-working roller assembly 10 relative to the frame member 16.
  • the actuator member 40 may be part of or provide for the first adjustment mechanism.
  • a second adjustment mechanism is provided which allows for adjusting a distance D between the first and second axis of rotation 18, 19.
  • a pivot point 52 may be combined with a guiding hole 54 for adjusting location of the first axis of rotation 18. Similar options for adjustment will apply to the second axis of rotation 19.
  • First and second support elements 13a, 13b of the first support member 13 are fixedly connected to the draw bar 15, similarly first and second support elements 14a, 14b of the second support member 14 (see Fig. 2 ).
  • an additional actuator member 60 for providing a force for adjustment of the distance D between the first axis of rotation 18 of the first earth-working roller member 11 and the second axis of rotation 19 of the second earth-working roller member 12.
  • Fig. 10 and 11 show schematic representations of a further earth-working roller system.
  • the first and second support members 13, 14 each are provided with the first support element 13a, 14a and the second support element 13b, 14b.
  • the first support elements 13a, 14a holding the first earth-working roller 11 are provided by or on the frame elements 16b, 16c.
  • the second support elements 13b, 14b are each received in a fixed position on the end sections 15a, 15b of the draw bar 15.
  • the first and second support elements 13a, 14a; 13b, 14b are pivotably connected through the joint assembly 17 which is adjustable as it has been described above. Similar to the actuator 40 an actuator (not shown) may connect to connecting point 61, 62 on the first and second support elements13a, 14a; 13b, 14b.
  • Fig. 12 shows a schematic representation of a system for detecting operation data for the earth-working roller system.
  • articulation will be oscillating depending on soil or ground roughness.
  • Such oscillation will be detected by a sensor device 70.
  • the oscillation allows for determining information on soil roughness and soil leveling at the back of the agricultural machine provided with the earth-working roller assembly 10. For example, stony areas of the ground 24 can be determined from measurement signals detected by the sensor device 70.
  • an angle sensor 70a can be placed aligned with a pivot point in which the earth-working roller assembly 10 couples to the frame member 16 to measure angle oscillation.
  • a position sensor 70b can be placed between the earth-working roller assembly 10 couples to the frame member 16.
  • a position sensor can be integrated in the actuator member 40. Such position sensor 70c and give desired information when actuator member 40 is not activated and free to follow soil contour.
  • a force sensor 70d may be located in a fixation of the actuator member 40 to measure load variation instead of oscillation and then get a similar info of soil roughness.
  • a pressure sensor can be used to measure force variation on the actuator member 40.
  • a gravity sensor can be used to measure the acceleration of movable parts of the earth-working roller assembly 10 and thus determine the soil roughness / leveling.
  • An acceleration sensor (for the vertical part) and / or a vibration sensor can be placed in different locations on the earth-working roller assembly 10, such sensor location allowing detection of sensor signals indicating movement of the some element or part of the earth-working roller assembly 10 due to movement over the soil.
  • the data or information determined from the measurement signals detected by the sensor device 70 may be combined with position data from a position sensor device 80, such as GPS (Global Positioning System) sensor.
  • a position sensor device 80 such as GPS (Global Positioning System) sensor.
  • Data processing for the combination of the information may be performed by a data processing device 90, for example, a remote server device which as adapted to exchange data with the sensor device 70 and the position sensor device 80.
  • position data indicative of a position on the field over which the earth-working roller assembly 10 moved may be assigned one or more sensor signals and / or roughness and leveling data derived from processing the sensor signal(s).
  • a sensor signal height may be indicative of a level of roughness.
  • level of roughness may be assigned to position data, thereby, generating the digital map.
  • Additional tillage may only be applied in an area of the field or ground where needed.
  • Additional tillage may be applied with adjustments adapted to soil roughness previously measured, for example, forward speed with power harrow.
  • a seed-rate adjustment may be applied according soil roughness. As a consequence, possible loss at the emergence may be reduced.
  • speed adjustment of planting may be applied in dependence on the digital map.
  • the detecting of the sensor data for the earth-working roller system in operation and combining such data with positioning information is independent of the actual design of the earth-working roller system and may apply to systems different from the one described here, insofar as such systems fall within the definition of the attached claims.
  • One or more of the earth-working roller systems disclosed above may advantageously be applied for detecting the signals. But, other earth-working roller systems provided with one or more of the sensor devices may also be used for the measurement of the signals, insofar as such systems fall within the definition of the attached claims.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Soil Working Implements (AREA)
  • Agricultural Machines (AREA)
  • Lifting Devices For Agricultural Implements (AREA)

Claims (11)

  1. Procédé pour déterminer et stocker des conditions de surface pour un champ, comprenant :
    - le déplacement d'une machine agricole ayant un système de rouleaux de travail de la terre sur un champ, le système de rouleaux de travail de la terre comprenant un ensemble de rouleaux de travail de la terre ;
    - la détection de signaux de capteur pour un mouvement oscillant de l'ensemble de rouleaux de travail de la terre ;
    - la détection de données de position pour le déplacement du système de rouleaux de travail de la terre sur le champ ;
    - la génération d'une carte de surface numérique pour le champ, indicative d'informations de rugosité et/ou de nivellement dépendantes de la position, la génération comprenant l'affectation des signaux de capteur aux données de position ; et
    - le stockage de la carte de surface numérique dans un dispositif de stockage de données.
  2. Procédé selon la revendication 1, dans lequel le déplacement comprend le déplacement d'un système de rouleaux de travail de la terre, comprenant :
    - un ensemble de rouleaux de travail de la terre comprenant :
    - un premier élément de rouleau de travail de la terre et un deuxième élément de rouleau de travail de la terre ; et
    - un premier élément de support et un deuxième élément de support, les premier et deuxième éléments de support supportant les premier et deuxième rouleaux de travail de la terre sur des côtés opposés dans une position relative et permettant une rotation libre des premier et deuxième rouleaux de travail de la terre ;
    - un élément de cadre ; et
    - un ensemble d'articulation reliant l'ensemble de rouleaux de travail de la terre et l'élément de cadre, l'ensemble d'articulation étant adapté pour permettre un mouvement de rotation de l'ensemble de rouleaux de travail de la terre par rapport à l'élément de cadre.
  3. Procédé selon la revendication 1 ou 2, dans lequel la détection des signaux de capteur comprend la détection de signaux de capteur pour le mouvement oscillant grâce un capteur d'angle.
  4. Procédé selon les revendications 2 et 3, comprenant en outre la détection de signaux de capteur pour le mouvement oscillant grâce à un capteur d'angle placé en alignement avec une articulation à pivot où l'ensemble de rouleaux de travail de la terre se couple à l'élément de cadre.
  5. Procédé selon l'une au moins des revendications précédentes, dans lequel la détection de signaux de capteur comprend la détection de signaux de capteur pour le mouvement oscillant grâce à un capteur de position.
  6. Procédé selon les revendications 2 et 5, comprenant en outre la détection de signaux de capteur pour le mouvement oscillant grâce à un capteur de position placé entre l'ensemble de rouleaux de travail de la terre et l'élément de cadre.
  7. Procédé selon la revendication 2 et la revendication 5 ou 6, comprenant en outre la détection de signaux de capteur pour le mouvement oscillant grâce à un capteur de position intégré dans un élément d'actionnement.
  8. Procédé selon l'une au moins des revendications précédentes, dans lequel la détection des signaux de capteur comprend la détection de signaux de capteur pour le mouvement oscillant grâce à un capteur de force.
  9. Procédé selon les revendications 2 et 8, comprenant en outre la détection de signaux de capteur pour le mouvement oscillant grâce à capteur de force situé dans une fixation d'un élément d'actionnement.
  10. Procédé selon l'une au moins des revendications précédentes, dans lequel la détection des signaux de capteur comprend la détection de signaux de capteur pour le mouvement oscillant grâce à un capteur de pression.
  11. Système pour déterminer et stocker des conditions de surface pour un champ, comprenant :
    - une machine agricole ayant un système de rouleaux de travail de la terre pour le déplacement sur un champ, le système de rouleaux de travail de la terre comprenant un ensemble de rouleaux de travail de la terre ;
    - un système de mesure comprenant un système de détection ; et
    - un dispositif de stockage de données ;
    dans lequel le système de mesure est adapté pour :
    - détecter des signaux de capteur pour un mouvement oscillant de l'ensemble de rouleaux de travail de la terre alors que la machine agricole se déplace sur un champ ;
    - la détection de données de position pour le déplacement du système de rouleaux de travail de la terre sur le champ ;
    - la génération d'une carte de surface numérique pour le champ, indicative d'informations de rugosité et/ou de nivellement dépendantes de la position, la génération comprenant l'affectation des signaux de capteur aux données de position ; et
    - le stockage de la carte de surface numérique dans le dispositif de stockage de données.
EP17199239.9A 2017-10-30 2017-10-30 Procédé et système permettant de déterminer et de stocker des conditions de surface pour un champ Active EP3476188B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DK17199239.9T DK3476188T3 (da) 2017-10-30 2017-10-30 Fremgangsmåde og system til bestemmelse og lagring af overfladeforhold for en mark
EP17199239.9A EP3476188B1 (fr) 2017-10-30 2017-10-30 Procédé et système permettant de déterminer et de stocker des conditions de surface pour un champ
PL17199239.9T PL3476188T3 (pl) 2017-10-30 2017-10-30 Sposób i system do określania i przechowywania warunków powierzchniowych dla pola
US16/760,150 US11818972B2 (en) 2017-10-30 2018-10-30 Method and system for determining and storing surface conditions for a field
PCT/EP2018/079716 WO2019086459A2 (fr) 2017-10-30 2018-10-30 Procédé et système permettant de déterminer et de stocker des états de surface pour un champ

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP17199239.9A EP3476188B1 (fr) 2017-10-30 2017-10-30 Procédé et système permettant de déterminer et de stocker des conditions de surface pour un champ

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EP3476188A1 EP3476188A1 (fr) 2019-05-01
EP3476188B1 true EP3476188B1 (fr) 2022-05-04

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US (1) US11818972B2 (fr)
EP (1) EP3476188B1 (fr)
DK (1) DK3476188T3 (fr)
PL (1) PL3476188T3 (fr)
WO (1) WO2019086459A2 (fr)

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EP3476188B1 (fr) * 2017-10-30 2022-05-04 Kverneland Group Les Landes Genusson Procédé et système permettant de déterminer et de stocker des conditions de surface pour un champ
CN114531970B (zh) * 2022-02-24 2023-03-03 中国农业大学 一种疏松土壤表层的分层镇压装置

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Also Published As

Publication number Publication date
US11818972B2 (en) 2023-11-21
EP3476188A1 (fr) 2019-05-01
US20200352077A1 (en) 2020-11-12
WO2019086459A2 (fr) 2019-05-09
PL3476188T3 (pl) 2022-10-17
DK3476188T3 (da) 2022-08-08
WO2019086459A3 (fr) 2019-12-12

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